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Merge 7e9f4b4cef into 1ef3f55c95

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Sebastian Lorenz 2024-07-31 15:31:40 +02:00 committed by GitHub
parent 1ef3f55c95 7e9f4b4cef
commit 09ca5b6c44
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1 changed files with 2 additions and 1 deletions
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PythonAPI/carla/agents/navigation/global_route_planner.py
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@ -360,7 +360,8 @@ class GlobalRoutePlanner(object):
if select_edge['type'] == RoadOption.LANEFOLLOW: if select_edge['type'] == RoadOption.LANEFOLLOW:
if neighbor != route[index+1]: if neighbor != route[index+1]:
sv = select_edge['net_vector'] sv = select_edge['net_vector']
cross_list.append(np.cross(cv, sv)[2]) if sv is not None:
cross_list.append(np.cross(cv, sv)[2])
next_cross = np.cross(cv, nv)[2] next_cross = np.cross(cv, nv)[2]
deviation = math.acos(np.clip( deviation = math.acos(np.clip(
np.dot(cv, nv)/(np.linalg.norm(cv)*np.linalg.norm(nv)), -1.0, 1.0)) np.dot(cv, nv)/(np.linalg.norm(cv)*np.linalg.norm(nv)), -1.0, 1.0))